Several of the Queen’s Life Guard horses were hit by vehicles as they bolted from the field and cantered up to six miles away from the base in Melton Mowbray, Leicestershire where they were resting from their duties guarding the Queen at Buckingham Palace.
Witnesses have now reported how the horses where seen being pursued by three people on motorbikes who were revving their engines and beeping their horns.
Drivers told how they were scared for their lives as the horses thundered past their cars, causing windows to smash.
The animals then headed for the dual carriageway but were luckily stopped just before the major road in a “miracle” rescue to narrowly avoiding “absolute carnage”.
One woman said she thought she and her mother were going to be trampled to death by the horses as they charged at her car.
Posting on the Melton Police Facebook page, she said: “Very lucky to be here to tell the tale as I honestly thought me and my mum would be killed.
“After avoiding a head on with another vehicle to emergency stopping on the verge to then have 21 horses charging at you smashing the car as it passed with glass landing all over me while screaming at my mum to stay down trying to cover her while whipping her seat back.
“Such a horrific incident. I hope when the mindless people are caught they get the book thrown at them as this could have resulted in numerous fatalities.
“Luckily for us were just shook up and aching from the collision although I have to add this has really upset my mum who is a very strong woman.”
Another woman said a car was written off after it hit one of the horses and she was concerned smashed glass would have hurt one of the animals.
Drivers reported chunks of horse hair still in their cars after the horrifying ordeal which saw a few cars being written off.
All the horses were eventually rounded-up by vets, members of the public and the police using cars and horse boxes after the three and a quarter hour ordeal.
Police are now searching for the culprits who released the horses from the field at the RAVC Defence Animal Training Regiment.
The Ministry of Defence (MoD), which own the horses, said they were all returned to the base safely after the incident last Friday.
An spokesman, said: “We can confirm that a number of military horses were released from the Defence Animal Training Regiment fields late on August 4.
“All horses were subsequently returned to the stables and are making a good recovery.
“The Ministry of Defence is particularly grateful to members of the local community, the police and veterinary staff from Nottingham University, who helped to get the situation under control and the horses home so quickly.”
A spokesman for Leicestershire Police said: “Some of the horses were involved in minor collisions but no one from the vehicles have reported being injured.
“We understand the shock and anger the incident may have caused but we ask that people don’t speculate on social media.
“We would like to speak to anyone who may have been driving in the area and witnessed the incident or were involved in a collision with any of the horses and haven’t yet reported the incident to police to contact us.
“We’d also like to thank everyone who assisted officers in locating and securing the horses.”